A new thermosetting polyurethane modified asphalt (TPUA) pavement material was developed to solve the unbalanced performance of traditional bridge deck pavement materials. Compared with the conventional bridge deck pavement materials, this work comprehensively evaluates the pavement performance of the TPUA binder and its mixture. The results indicate that the TPUA binder gradually shows elastic material properties at high temperatures and has excellent deformation resistance. The low-temperature flexibility of the TPUA binder is much better than that of SBS asphalt and epoxy asphalt (EA) binders. The TPUA binder is a viscoelastic material at low temperatures, and its creep meets the Burgers constitutive model. Moreover, the TPUA binder also has excellent mechanical properties and flexibility. In addition, the TPUA mixture has excellent mechanical properties, high-temperature deformation resistance and moisture stability. Its crack resistance at room temperature and low temperature is much better than those of SBS asphalt and EA mixture. This work will help us continue the development and performance research of TPUA pavement materials.